4,354 research outputs found
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
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Using Linear Features for Aerial Image Sequence Mosaiking
With recent advances in sensor technology and digital image processing techniques, automatic image mosaicking has received increased attention in a variety of geospatial applications, ranging from panorama generation and video surveillance to image based rendering. The geometric transformation used to link images in a mosaic is the subject of image orientation, a fundamental photogrammetric task that represents a major research area in digital image analysis. It involves the determination of the parameters that express the location and pose of a camera at the time it captured an image. In aerial applications the typical parameters comprise two translations (along the x and y coordinates) and one rotation (rotation about the z axis). Orientation typically proceeds by extracting from an image control points, i.e. points with known coordinates. Salient points such as road intersections, and building corners are commonly used to perform this task. However, such points may contain minimal information other than their radiometric uniqueness, and, more importantly, in some areas they may be impossible to obtain (e.g. in rural and arid areas). To overcome this problem we introduce an alternative approach that uses linear features such as roads and rivers for image mosaicking. Such features are identified and matched to their counterparts in overlapping imagery. Our matching approach uses critical points (e.g. breakpoints) of linear features and the information conveyed by them (e.g. local curvature values and distance metrics) to match two such features and orient the images in which they are depicted. In this manner we orient overlapping images by comparing breakpoint representations of complete or partial linear features depicted in them. By considering broader feature metrics (instead of single points) in our matching scheme we aim to eliminate the effect of erroneous point matches in image mosaicking. Our approach does not require prior approximate parameters, which are typically an essential requirement for successful convergence of point matching schemes. Furthermore, we show that large rotation variations about the z-axis may be recovered. With the acquired orientation parameters, image sequences are mosaicked. Experiments with synthetic aerial image sequences are included in this thesis to demonstrate the performance of our approach
Low-rank Based Algorithms for Rectification, Repetition Detection and De-noising in Urban Images
In this thesis, we aim to solve the problem of automatic image rectification and repeated patterns detection on 2D urban images, using novel low-rank based techniques. Repeated patterns (such as windows, tiles, balconies and doors) are prominent and significant features in urban scenes.
Detection of the periodic structures is useful in many applications such as photorealistic 3D reconstruction, 2D-to-3D alignment, facade parsing, city modeling, classification, navigation, visualization in 3D map environments, shape completion, cinematography and 3D games. However both of the image rectification and repeated patterns detection problems are challenging due to scene occlusions, varying illumination, pose variation and sensor noise. Therefore, detection of these repeated patterns becomes very important for city scene analysis.
Given a 2D image of urban scene, we automatically rectify a facade image and extract facade textures first. Based on the rectified facade texture, we exploit novel algorithms that extract repeated patterns by using Kronecker product based modeling that is based on a solid theoretical foundation. We have tested our algorithms in a large set of images, which includes building facades from Paris, Hong Kong and New York
Dendritic calcium signals in rhesus macaque motor cortex drive an optical brain-computer interface
Calcium imaging is a powerful tool for recording from large populations of neurons in vivo. Imaging in rhesus macaque motor cortex can enable the discovery of fundamental principles of motor cortical function and can inform the design of next generation brain-computer interfaces (BCIs). Surface two-photon imaging, however, cannot presently access somatic calcium signals of neurons from all layers of macaque motor cortex due to photon scattering. Here, we demonstrate an implant and imaging system capable of chronic, motion-stabilized two-photon imaging of neuronal calcium signals from macaques engaged in a motor task. By imaging apical dendrites, we achieved optical access to large populations of deep and superficial cortical neurons across dorsal premotor (PMd) and gyral primary motor (M1) cortices. Dendritic signals from individual neurons displayed tuning for different directions of arm movement. Combining several technical advances, we developed an optical BCI (oBCI) driven by these dendritic signalswhich successfully decoded movement direction online. By fusing two-photon functional imaging with CLARITY volumetric imaging, we verified that many imaged dendrites which contributed to oBCI decoding originated from layer 5 output neurons, including a putative Betz cell. This approach establishes new opportunities for studying motor control and designing BCIs via two photon imaging
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Panoramic Video Stitching
Digital camera and smartphone technologies have made high quality images and video pervasive and abundant. Combining or stitching collections of images from a variety of viewpoints into an extended panoramic image is a common and popular function for such devices. Extending this functionality to video however, poses many new challenges due to the demand for both spatial and temporal continuity. Multi-view video stitching (also called panoramic video stitching) is an emerging, common research area in computer vision, image/video processing and computer graphics and has wide applications in virtual reality, virtual tourism, surveillance, and human computer interaction. In this thesis, I will explore the technical and practical problems in the complete process of stitching a high-resolution multiview video into a high-resolution panoramic video. The challenges addressed include video stabilization, efficient multi-view video alignment and panoramic video stitching, color correction, and blurred frame detection and repair.
Specifically, I propose a continuity aware Kalman filtering scheme for rotation angles for video stabilization and jitter removal. For efficient stitching of long, high-resolution panoramic videos, I propose constrained and multigrid SIFT matching schemes, concatenated image projection and warping and min-space feathering. These three approaches together can greatly reduce the computational time and memory requirement in panoramic video stitching, which makes it feasible to stitch high-resolution (e.g., 1920x1080 pixels) and long panoramic video sequences using standard workstations.
Color correction is the emphasis of my research. On this topic I first performed a systematic survey and performance evaluation of nine state of the art color correction approaches in the context of two-view image stitching. My evaluation work not only gives useful insights and conclusions about the relative performance of these approaches, but also points out the remaining challenges and possible directions for future color correction research. Based on the conclusions from this evaluation work, I proposed a hybrid and scalable color correction approach for general n-view image stitching, and designed a two-view video color correction approach for panoramic video stitching.
For blurred frame detection and repair, I have completed preliminary work on image partial blur detection and classification, in which I proposed a SVM-based blur block classifier using improved and new local blur features. Then, based on partial blur classification results, I designed a statistical thresholding scheme for blurred frame identification. For the detected blurred frames, I repaired them using polynomial data fitting from neighboring unblurred frames.
Many of the techniques and ideas in this thesis are novel and general solutions to the technical or practical problems in panoramic video stitching. At the end of this thesis, I conclude the contributions made by this thesis to the research and popularization of panoramic video stitching, and describe those open research issues
Proceedings of the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory
This book is a collection of 15 reviewed technical reports summarizing the presentations at the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory. The covered topics include image processing, optical signal processing, visual inspection, pattern recognition and classification, human-machine interaction, world and situation modeling, autonomous system localization and mapping, information fusion, and trust propagation in sensor networks
Facial Paralysis Grading Based on Dynamic and Static Features
Peripheral facial nerve palsy, also known as facial paralysis (FP), is a common clinical disease, which requires subjective judgment and scoring based on the FP scale. There exists some automatic facial paralysis grading methods, but the current methods mostly only consider either static or dynamic features, resulting in a low accuracy rate of FP grading. This thesis proposes an automatic facial paralysis assessment method including both static and dynamic characteristics.
The first step of the method performs preprocessing on the collected facial expression videos of the subjects, including rough video interception, video stabilization, keyframe extraction, image geometric normalization and gray-scale normalization. Next, the method selects as keyframes no facial expression state and maximum facial expression state in the image data to build the the research data set.
Data preprocessing reduces errors, noise, redundancy and even errors in the original data. The basis for extracting static and dynamic features of an image is to use Ensemble of Regression Trees algorithm to determine 68 facial landmarks. Based on landmark points, image regions of image are formed. According to the Horn-Schunck optical flow method, the optical flow information of parts of the face are extracted, and the dynamic characteristics of the optical flow difference between the left and right parts are calculated.
Finally, the results of dynamic and static feature classification are weighted and analyzed to obtain FP ratings of subjects. A 32-dimensional static feature is fed into the support vector machine for classification. A 60-dimensional feature vector of dynamical aspects is fed into a long and short-term memory network for classification. Videos of 30 subjects are used to extract 1419 keyframes to test the algorithm. The accuracy, precision, recall and f1 of the best classifier reach 93.33%, 94.29%, 91.33% and 91.87%, respectively.Perifeerinen kasvojen hermohalvaus, joka tunnetaan myös nimellä kasvojen halvaus (FP), on yleinen kliininen sairaus, joka vaatii subjektiivista arviointia ja FP -asteikon pisteytystä. Joitakin automaattisia kasvohalvauksen luokittelumenetelmiä on olemassa, mutta yleensä ottaen ne punnitsevat vain joko staattisia tai dynaamisia piirteitä. Tässä tutkielmassa ehdotetaan automaattista kasvojen halvaantumisen arviointimenetelmää, joka kattaa sekä staattiset että dynaamiset ominaisuudet.
Menetelmän ensimmäinen vaihe suorittaa ensin esikäsittelyn kohteiden kerätyille kasvojen ilmevideoille, mukaan lukien karkea videon sieppaus, videon vakautus, avainruudun poiminta, kuvan geometrinen normalisointi ja harmaasävyjen normalisointi. Seuraavaksi menetelmä valitsee avainruuduiksi ilmeettömän tilan ja kasvojen ilmeiden maksimitilan kuvadatasta kerryttäen tutkimuksen data-aineiston.
Tietojen esikäsittely vähentää virheitä, kohinaa, redundanssia ja jopa virheitä alkuperäisestä datasta. Kuvan staattisten ja dynaamisten piirteiden poimimisen perusta on käyttää Ensemble of Regression Trees -algoritmia 68 kasvojen merkkipisteiden määrittämiseen. Merkkipisteiden perusteella määritellään kuvan kiinnostavat alueet. Horn-Schunckin optisen virtausmenetelmän mukaisesti poimitaan optisen virtauksen tiedot joistakin kasvojen osista, ja dynaaminen luonnehdinta lasketaan vasempien ja oikeiden osien välille.
Lopuksi dynaamisen ja staattisen piirteiden luokittelun tulokset painotetaan ja analysoidaan kattavasti koehenkilöiden FP-luokitusten saamiseksi. 32- ulotteinen staattisten piirteiden vektori syötetään tukivektorikoneeseen luokittelua varten. 60-ulotteinen dynaamisten piirteiden ominaisuusvektori syötetään pitkän ja lyhyen aikavälin muistiverkkoon luokittelua varten. Parhaan luokittelijan tarkkuus, täsmällisyys, palautustaso ja f1 saavuttavat arvot 93,33%, 94,29%, 91,33% ja 91,87%
Development Of A High Performance Mosaicing And Super-Resolution Algorithm
In this dissertation, a high-performance mosaicing and super-resolution algorithm is described. The scale invariant feature transform (SIFT)-based mosaicing algorithm builds an initial mosaic which is iteratively updated by the robust super resolution algorithm to achieve the final high-resolution mosaic. Two different types of datasets are used for testing: high altitude balloon data and unmanned aerial vehicle data. To evaluate our algorithm, five performance metrics are employed: mean square error, peak signal to noise ratio, singular value decomposition, slope of reciprocal singular value curve, and cumulative probability of blur detection. Extensive testing shows that the proposed algorithm is effective in improving the captured aerial data and the performance metrics are accurate in quantifying the evaluation of the algorithm
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